Household stand column type four-wheel robot with unfolding structure

Abstract

The utility model provides a household stand column type four-wheel robot with an unfolding structure, which belongs to the technical field of household robots and comprises a stand column type purification robot, a chassis and a fixed seat, and a lifting mechanism is arranged in an inner cavity of the fixed seat. A firm foundation is provided for the overall adjustment and unfolding of the adjusting and unfolding mechanism through the stable foundation of the driving main shaft and the supporting column, and flexible stretching and retracting of the electric telescopic arm rod are combined with accurate control of the first driving rotating shaft and the second driving rotating shaft, so that the adjusting swing arm can be accurately positioned and adjusted; the dust collection pipe is connected with the hose, so that the dust collection dust collector can effectively collect dust and sundries, the continuity and efficiency of cleaning are kept, the coverage range of cleaning is enlarged, the depth and efficiency of cleaning are improved, and the dust collection dust collector is suitable for popularization and application. And the household cleaning work is easier, more comprehensive and more intelligent.

Description

Technical Field

[0001] The utility model belongs to the technical field of household robots, and in particular relates to a household column-type four-wheel robot with an unfolding structure. Background Art

[0002] The household column-type four-wheel robot is a high-tech household device that integrates multiple functions. It is usually designed in the shape of a column and equipped with four wheels for free movement at home. This robot combines the aesthetic needs and practical functions of modern homes, aiming to provide users with a convenient and intelligent life experience.

[0003] The current column-type four-wheeled robots do not have an unfolding structure and can only perform cleaning work on the ground or at low places. They cannot reach high areas such as windows, tops of walls or above furniture. For areas that require specific tools or postures to be effectively cleaned, such as corners, gaps or furniture of specific shapes, the robots may not be able to provide sufficient cleaning force or coverage, resulting in reduced cleaning efficiency and limited cleaning range. Utility Model Content

[0004] The purpose of the utility model is to provide a household column-type four-wheel robot with an unfolded structure, aiming to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A column-type four-wheeled robot for household use with an unfolding structure comprises a column-type purification robot, a chassis and a fixing seat, wherein the inner cavity of the fixing seat is provided with a lifting mechanism, and the right side of the lifting mechanism is provided with an adjusting unfolding mechanism;

[0007] The adjusting and unfolding mechanism comprises a driving main shaft, a pillar, a first driving shaft, a dust collector, an electric telescopic arm, an axle seat, a second driving shaft, an adjusting swing arm, a dust pipe, a dust head, a rotating hair roller brush and a hose, wherein the pillar is fixedly mounted on one side of the driving main shaft, the first driving shaft is adapted to be mounted on one end of the pillar, one end of the electric telescopic arm is adapted to be connected with the first driving shaft, the dust collector is fixedly mounted on one side of the electric telescopic arm, the axle seat is fixedly mounted on the other end of the electric telescopic arm, the second driving shaft is arranged in the inner cavity of the axle seat, one end of the adjusting swing arm is adapted to be connected with the second driving shaft, the dust pipe is fixedly mounted on one side of the electric telescopic arm, the dust head is fixedly mounted on one end of the dust pipe, the rotating hair roller brush is arranged on the top of one side of the adjusting swing arm, one end of the hose is fixedly connected to the other end of the dust pipe, and the other end of the hose is fixedly connected to the top of the dust collector.

[0008] As a preferred solution of the utility model, a placement groove is provided on the top of the fixing seat, and a rotating rod is respectively provided on the front and rear sides of one side of the top of the fixing seat, and a limiting clamping plate is fixedly connected to the surface of the rotating rod, and a fastening bolt is provided on one side of the limiting clamping plate, and one end of the fastening bolt is threadedly connected to one side of the lifting mechanism.

[0009] As a preferred solution of the utility model, the lifting mechanism includes a servo motor, a threaded rod, a threaded sleeve, a limit rod, a limit block and a connecting block. The servo motor is fixedly installed on the top of the inner cavity of the lifting mechanism, one end of the threaded rod is fixedly connected to the bottom of the servo motor through a coupling, the threaded sleeve is sleeved on the surface of the threaded rod, the limit rod is fixedly installed on the front and rear sides of the inner cavity of the lifting mechanism, the limit block is fixedly installed on the front and rear sides of the threaded sleeve, the limit block is sleeved on the surface of the limit rod, the connecting block is fixedly installed on one side of the threaded sleeve and assembled and connected to the other side of the driving spindle, and a rotating mechanism is fixedly installed on the top of the chassis.

[0010] As a preferred scheme of the utility model, the rotating mechanism includes a driving motor, an axle, a limiting bracket, a fixing block, a connecting rod, a limiting roller and a limiting guide rail. The driving motor is fixedly installed at the center of the bottom of the inner cavity of the rotating mechanism, the axle is fixedly installed on the top of the driving motor, the limiting bracket is fixedly installed on the top of the axle, the fixing blocks are distributed around the inner cavity of the limiting bracket, one end of the connecting rod is fixedly connected to the bottom of the fixing block, the limiting roller is adapted to be installed on the other end of the connecting rod, the limiting guide rail is fixedly installed on the inner wall of the inner cavity of the rotating mechanism, and the limiting roller is located in the inner cavity inside the limiting guide rail.

[0011] As a preferred solution of the utility model, a limiting cover plate is fixedly installed on the top of the shaft rod, the column-type purification robot is located on the top of the limiting cover plate, and electric walking wheels are respectively arranged around the chassis.

[0012] As a preferred solution of the utility model, air outlets are respectively opened on both sides of the column-type purification robot, the inner cavity of the air outlet is provided with a dustproof net, and the detection and monitoring module and the automatic obstacle avoidance module are respectively fixedly installed on the upper and lower sides of the front of the column-type purification robot.

[0013] As a preferred solution of the utility model, a maintenance side door is provided on the back of the column-type cleaning robot, and a visual probe is fixedly installed on the top of the lifting mechanism.

[0014] The beneficial effects of the utility model are:

[0015] The solid foundation of the driving main shaft and the support provides a solid foundation for the adjustment and deployment of the overall adjustment and deployment mechanism. The flexible extension and retraction of the electric telescopic arm combined with the precise control of the first driving shaft and the second driving shaft enables the adjusting swing arm to be accurately positioned and adjusted, thereby accurately delivering the rotating brush and the dust head to high and hard-to-reach areas. The connection of the dust collection tube and the hose ensures that the dust collector can effectively collect dust and debris and maintain the continuity and efficiency of cleaning, which not only improves the cleaning coverage, but also improves the cleaning depth and efficiency, making household cleaning work easier, more comprehensive and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0017] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the utility model;

[0018] Figure 2 It is a schematic diagram of the structure of the fixing seat provided in the embodiment of the utility model;

[0019] Figure 3 It is a schematic diagram of the structure of the adjustment and deployment mechanism provided by an embodiment of the utility model;

[0020] Figure 4 It is a cross-sectional view of the rotating mechanism structure provided by an embodiment of the utility model;

[0021] Figure 5 This is a rear view of the position limiting card plate structure provided by an embodiment of the utility model;

[0022] Figure 6 It is a partial cross-sectional view of the lifting mechanism structure provided by an embodiment of the utility model.

[0023] In the figure: 1. Column-type purification robot; 2. chassis; 3. rotating mechanism; 301. driving motor; 302. shaft; 303. limiting bracket; 304. fixing block; 305. connecting rod; 306. limiting roller; 307. limiting guide rail; 4. limiting cover plate; 5. lifting mechanism; 501. servo motor; 502. threaded rod; 503. threaded sleeve; 504. limiting rod; 505. limiting block; 506. connecting block; 6. adjusting and unfolding mechanism; 601. driving spindle; 602. pillar; 603. first Driving shaft; 604, dust collector; 605, electric telescopic arm; 606, shaft seat; 607, second driving shaft; 608, adjusting swing arm; 609, dust suction tube; 610, dust suction head; 611, rotating brush; 612, hose; 7, visual probe; 8, fixing seat; 9, rotating rod; 10, limiting card plate; 11, detection and monitoring module; 12, automatic obstacle avoidance module; 13, air outlet; 14, dustproof net; 15, electric running wheel; 16, maintenance side door; 17, placement groove; 18, fastening bolts. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0027] Example

[0028] Reference Figure 1-6 , is an embodiment of the utility model, which provides a household column-type four-wheel robot with an unfolding structure, including a column-type purification robot 1, a chassis 2 and a fixing seat 8, the inner cavity of the fixing seat 8 is provided with a lifting mechanism 5, and the right side of the lifting mechanism 5 is provided with an adjusting unfolding mechanism 6;

[0029] The adjustment and unfolding mechanism 6 includes a driving spindle 601, a support 602, a first driving shaft 603, a dust collector 604, an electric telescopic arm 605, an axle seat 606, a second driving shaft 607, an adjustment swing arm 608, a dust suction pipe 609, a dust suction head 610, a rotating brush 611 and a hose 612. The support 602 is fixedly mounted on one side of the driving spindle 601, the first driving shaft 603 is adapted to be mounted on one end of the support 602, one end of the electric telescopic arm 605 is adapted to be connected to the first driving shaft 603, and the dust collector 604 is fixedly mounted on the electric telescopic arm. On one side of 605, the shaft seat 606 is fixedly installed on the other end of the electric telescopic arm 605, the second drive shaft 607 is arranged in the inner cavity of the shaft seat 606, one end of the adjusting swing arm 608 is adaptively connected to the second drive shaft 607, the dust suction pipe 609 is fixedly installed on one side of the electric telescopic arm 605, the dust suction head 610 is fixedly installed on one end of the dust suction pipe 609, the rotating bristle roller brush 611 is arranged on the top of one side of the adjusting swing arm 608, one end of the hose 612 is fixedly connected to the other end of the dust suction pipe 609, and the other end of the hose 612 is fixedly connected to the top of the dust collector 604.

[0030] Specifically, a placement groove 17 is provided at the top of the fixed seat 8, and a rotating rod 9 is respectively provided on the front and rear sides of one side of the top of the fixed seat 8. A limiting clamp 10 is fixedly connected to the surface of the rotating rod 9, and a fastening bolt 18 is provided on one side of the limiting clamp 10. One end of the fastening bolt 18 is threadedly connected to one side of the lifting mechanism 5.

[0031] Furthermore, after the lifting mechanism 5 is clamped in the inner cavity of the groove 17, the limiting clamping plate 10 is driven by the rotating rod 9 to fix the two sides of the lifting mechanism 5, and the lifting mechanism 5 is fixed by the threaded connection with one side of the lifting mechanism 5 through the fastening bolt 18. Otherwise, the lifting mechanism 5 is easy to disassemble quickly.

[0032] Specifically, the lifting mechanism 5 includes a servo motor 501, a threaded rod 502, a threaded sleeve 503, a limit rod 504, a limit block 505 and a connecting block 506. The servo motor 501 is fixedly installed at the top of the inner cavity of the lifting mechanism 5. One end of the threaded rod 502 is fixedly connected to the bottom of the servo motor 501 through a coupling. The threaded sleeve 503 is sleeved on the surface of the threaded rod 502. The limit rod 504 is respectively fixedly installed on the front and rear sides of the inner cavity of the lifting mechanism 5. The limit block 505 is respectively fixedly installed on the front and rear sides of the threaded sleeve 503. The limit block 505 is sleeved on the surface of the limit rod 504. The connecting block 506 is fixedly installed on one side of the threaded sleeve 503 and assembled and connected with the other side of the driving spindle 601. The rotating mechanism 3 is fixedly installed on the top of the chassis 2.

[0033] Furthermore, through the precise control of the servo motor 501, the threaded rod 502 is driven to rotate, thereby driving the threaded sleeve 503 to move up and down along the threaded rod 502. The cooperation between the limit rod 504 and the limit block 505 ensures the linear motion and stability of the threaded sleeve 503 during the lifting process, preventing it from offsetting or shaking during movement. The connection between the connecting block 506 and the driving spindle 601 enables the lifting motion to be directly transmitted to the adjusting and unfolding mechanism 6, thereby achieving precise adjustment of the height. This design enables the adjusting and unfolding mechanism 6 to flexibly adjust the height according to task requirements, whether it is ground cleaning, high-altitude cleaning or other operations, it can maintain a high degree of positioning accuracy and operating efficiency.

[0034] Specifically, the rotating mechanism 3 includes a driving motor 301, an axle 302, a limiting bracket 303, a fixing block 304, a connecting rod 305, a limiting roller 306 and a limiting guide rail 307. The driving motor 301 is fixedly installed at the center of the bottom of the inner cavity of the rotating mechanism 3, the axle 302 is fixedly installed on the top of the driving motor 301, the limiting bracket 303 is fixedly installed on the top of the axle 302, the fixing block 304 is distributed around the inner cavity of the limiting bracket 303, one end of the connecting rod 305 is fixedly connected to the bottom of the fixing block 304, the limiting roller 306 is adapted to be installed on the other end of the connecting rod 305, the limiting guide rail 307 is fixedly installed on the inner wall of the inner cavity of the rotating mechanism 3, and the limiting roller 306 is located in the inner cavity inside the limiting guide rail 307.

[0035] Furthermore, by driving the power output of the motor 301, the shaft 302 is driven to rotate, thereby driving the limiting bracket 303 and the fixed block 304 and the connecting rod 305 fixed thereon to rotate together. The cooperation between the limiting roller 306 and the limiting guide rail 307 ensures the stability and accuracy during the rotation process, and prevents the top structure from shifting or shaking during rotation. This design enables the structure located on the top of the limiting cover plate 4 to rotate smoothly and accurately, and can maintain a high degree of positioning accuracy and operating efficiency whether it is during cleaning, monitoring or other functions.

[0036] Specifically, a limit cover plate 4 is fixedly installed on the top of the shaft rod 302 , the column-type purification robot 1 is located on the top of the limit cover plate 4 , and electric running wheels 15 are respectively arranged around the chassis 2 .

[0037] Furthermore, the electric running wheel 15 can realize the movement of the entire device.

[0038] Specifically, air outlets 13 are respectively provided on both sides of the column-type purification robot 1, and a dustproof net 14 is provided in the inner cavity of the air outlet 13. The detection monitoring module 11 and the automatic obstacle avoidance module 12 are respectively fixedly installed on the upper and lower sides of the front of the column-type purification robot 1.

[0039] Furthermore, the column-type purification robot 1 itself can directly purify the air and discharge the purified air again through the air outlet 13. The dustproof net 14 can effectively prevent dust from entering the inner cavity of the column-type purification robot 1 through the air outlet 13. The detection and monitoring module 11 can monitor the surrounding environment in real time, capture images and data, and provide visual feedback and environmental information for the column-type purification robot 1, which helps it to perform cleaning, monitoring and other tasks more accurately and efficiently. The automatic obstacle avoidance module 12 detects obstacles through sensors and calculates the best path in real time to ensure that the column-type purification robot 1 can autonomously avoid obstacles and collisions in complex environments, thereby ensuring the safety of equipment and surrounding objects.

[0040] Specifically, a maintenance side door 16 is provided on the back of the column-type cleaning robot 1 , and a visual probe 7 is fixedly installed on the top of the lifting mechanism 5 .

[0041] Furthermore, the visual probe 7 allows the user to observe through the mobile terminal whether there is dust in the cleaning area or whether it is clean.

[0042] Working principle: The device is driven to move as a whole by the electric walking wheel 15, the detection and monitoring module 11 can monitor the surrounding environment in real time, capture images and data, and provide visual feedback and environmental information for the column-type cleaning robot 1. The automatic obstacle avoidance module 12 detects obstacles through sensors and calculates the optimal path in real time to ensure that the column-type cleaning robot 1 can autonomously avoid obstacles and collisions in complex environments to ensure the safety of equipment and surrounding objects. After moving to the cleaning area, the flexible extension and retraction of the electric telescopic arm 605 is combined with the precise control of the first drive shaft 603 and the second drive shaft 607, so that the adjustment swing arm 608 can be accurately positioned and adjusted, so that the rotating brush 611 and the dust head 610 can be accurately delivered to high and difficult-to-reach areas. The connection between the dust collection pipe 609 and the hose 612 ensures that the dust collector 604 can collect dust and debris. After the lifting mechanism 5 is clamped in the inner cavity of the placement groove 17, the limit is driven by the rotating rod 9. The positioning clamping plate 10 fixes both sides of the lifting mechanism 5, and is threadedly connected to one side of the lifting mechanism 5 by fastening bolts 18 to fix the lifting mechanism 5. The precise control of the servo motor 501 drives the threaded rod 502 to rotate, thereby driving the threaded sleeve 503 to move up and down along the threaded rod 502. The cooperation between the limit rod 504 and the limit block 505 ensures the linear motion and stability of the threaded sleeve 503 during the lifting process, and prevents it from deflecting or shaking during movement. The connection between the connecting block 506 and the driving spindle 601 enables the lifting motion to be directly transmitted to the adjusting and unfolding mechanism 6, thereby achieving precise adjustment of the height. The power output of the driving motor 301 drives the shaft 302 to rotate, thereby driving the limit bracket 303 and the fixed block 304 and the connecting rod 305 fixed thereon to rotate together. The cooperation between the limit roller 306 and the limit guide rail 307 ensures the stability and accuracy during the rotation process, and prevents the top structure from deflecting or shaking during rotation.

[0043] In summary, the overall beneficial effects of the embodiment are: the solid foundation of the driving main shaft 601 and the support 602 provides a solid foundation for the overall adjustment and deployment of the adjustment and deployment mechanism 6; the flexible extension and retraction of the electric telescopic arm 605 is combined with the precise control of the first driving shaft 603 and the second driving shaft 607, so that the adjustment swing arm 608 can be accurately positioned and adjusted, so that the rotating brush 611 and the dust head 610 can be accurately delivered to high and difficult-to-reach areas; the connection between the dust collection tube 609 and the hose 612 ensures that the dust collector 604 can effectively collect dust and debris and maintain the continuity and efficiency of cleaning, which not only improves the coverage of cleaning, but also improves the depth and efficiency of cleaning, making household cleaning work easier, more comprehensive and intelligent.

[0044] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0045] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0046] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A household column-type four-wheel robot with an unfolded structure, characterized in that: It comprises a column-type cleaning robot (1), a chassis (2) and a fixing seat (8), wherein the inner cavity of the fixing seat (8) is provided with a lifting mechanism (5), and the right side of the lifting mechanism (5) is provided with an adjusting and unfolding mechanism (6); The adjustment and unfolding mechanism (6) comprises a driving main shaft (601), a support (602), a first driving rotating shaft (603), a dust collector (604), an electric telescopic arm (605), an axle seat (606), a second driving rotating shaft (607), an adjustment swing arm (608), a dust suction pipe (609), a dust suction head (610), a rotating brush (611) and a hose (612), wherein the support (602) is fixedly mounted on one side of the driving main shaft (601), the first driving rotating shaft (603) is adapted to be mounted on one end of the support (602), one end of the electric telescopic arm (605) is adapted to be connected to the first driving rotating shaft (603), and the dust collector (604) is fixedly mounted on the electric telescopic arm (60 5), the shaft seat (606) is fixedly mounted on the other end of the electric telescopic arm (605), the second driving shaft (607) is arranged in the inner cavity of the shaft seat (606), one end of the adjusting swing arm (608) is adaptively connected to the second driving shaft (607), the dust suction pipe (609) is fixedly mounted on one side of the electric telescopic arm (605), the dust suction head (610) is fixedly mounted on one end of the dust suction pipe (609), the rotating brush (611) is arranged on the top of one side of the adjusting swing arm (608), one end of the hose (612) is fixedly connected to the other end of the dust suction pipe (609), and the other end of the hose (612) is fixedly connected to the top of the dust collector (604).

2. A household column-type four-wheel robot with an unfolded structure according to claim 1, characterized in that: A placement groove (17) is provided on the top of the fixing seat (8), and a rotating rod (9) is provided on the front and rear sides of one side of the top of the fixing seat (8), respectively. A limit clamping plate (10) is fixedly connected to the surface of the rotating rod (9), and a fastening bolt (18) is provided on one side of the limit clamping plate (10), and one end of the fastening bolt (18) is threadedly connected to one side of the lifting mechanism (5).

3. A household column-type four-wheel robot with an unfolded structure according to claim 1, characterized in that: The lifting mechanism (5) comprises a servo motor (501), a threaded rod (502), a threaded sleeve (503), a limit rod (504), a limit block (505) and a connecting block (506); the servo motor (501) is fixedly mounted on the top of the inner cavity of the lifting mechanism (5); one end of the threaded rod (502) is fixedly connected to the bottom of the servo motor (501) through a coupling; the threaded sleeve (503) is sleeved on the surface of the threaded rod (502); the limit rod (504) is respectively fixedly mounted on the front and rear sides of the inner cavity of the lifting mechanism (5); the limit block (505) is respectively fixedly mounted on the front and rear sides of the threaded sleeve (503); the limit block (505) is sleeved on the surface of the limit rod (504); the connecting block (506) is fixedly mounted on one side of the threaded sleeve (503) and assembled and connected to the other side of the driving spindle (601); and a rotating mechanism (3) is fixedly mounted on the top of the chassis (2).

4. A household column-type four-wheel robot with an unfolded structure according to claim 3, characterized in that: The rotating mechanism (3) comprises a driving motor (301), a shaft (302), a limiting bracket (303), a fixing block (304), a connecting rod (305), a limiting roller (306) and a limiting guide rail (307); the driving motor (301) is fixedly mounted at the center of the bottom of the inner cavity of the rotating mechanism (3); the shaft (302) is fixedly mounted on the top of the driving motor (301); and the limiting bracket (303) is fixedly mounted on the shaft. The top of the rotating mechanism (302), the fixed block (304) is distributed around the inner cavity of the limiting bracket (303), one end of the connecting rod (305) is fixedly connected to the bottom of the fixed block (304), the limiting roller (306) is adapted to be installed on the other end of the connecting rod (305), the limiting guide rail (307) is fixedly installed on the inner wall of the inner cavity of the rotating mechanism (3), and the limiting roller (306) is located in the inner cavity inside the limiting guide rail (307).

5. A household column-type four-wheel robot with an unfolded structure according to claim 4, characterized in that: A limit cover plate (4) is fixedly mounted on the top of the shaft (302), the column-type purification robot (1) is located on the top of the limit cover plate (4), and electric running wheels (15) are respectively arranged on the four sides of the chassis (2).

6. A household column-type four-wheel robot with an unfolded structure according to claim 1, characterized in that: Air outlets (13) are respectively provided on both sides of the column-type cleaning robot (1), and the inner cavity of the air outlet (13) is provided with a dustproof net (14). A detection monitoring module (11) and an automatic obstacle avoidance module (12) are respectively fixedly installed on the upper and lower sides of the front of the column-type cleaning robot (1).

7. A household column-type four-wheel robot with an unfolded structure according to claim 1, characterized in that: The back of the column-type cleaning robot (1) is provided with a maintenance side door (16), and the top of the lifting mechanism (5) is fixedly mounted with a visual probe (7).

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